Medical power assisting device
By using the robotic arm and control components in the medical assistance device, the contact pressure of the probe and the patient's body surface is adjusted according to the patient's fat and thin condition, and the problem of being unable to adapt to the detection image of the fully automatic medical testing equipment can be solved. Save labor -saving detection operation.
Patent Information
- Application Number
- CN202420406164.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-04
- Publication Date
- 2025-01-28
- Estimated Expiration
- 2034-03-04
AI Technical Summary
Existing fully automatic medical testing equipment cannot adaptively obtain the detection images the doctor wants based on the patient's weight loss situation, resulting in the doctor's possible secondary testing through a handheld probe.
Provide a medical assistance device, including robotic arms, medical probes and control components. Through the first mechanical sensor detection and holding pressure, control the component to drive the mechanical arm adjustment of the contact pressure between the probe and the patient's body surface, and to offset the gravity of the probe when the holding pressure is less than equal to the preset threshold, and reduce the operating burden of the doctor.
Achieved adaptive adjustment of probe contact pressure based on the patient's fat and thin condition, reduced the operating strength of doctors, improved the accuracy of detection images, and saved the physical strength of the doctor.
Smart Images
Figure CN222398301U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of medical equipment, and specifically provides a medical power-assisting device. Background Art
[0002] The handheld probes of currently available medical testing equipment are completely dependent on the user's grip for operation, which results in long-term laborious operation. In some cases, even when the operation is difficult, the user cannot achieve the desired inspection effect solely by relying on their own strength.
[0003] In order to solve the above problems, the prior art provides a fully automatic detection device. Specifically, a medical detection probe is installed at the output end of a six-degree-of-freedom robotic arm, so that the control unit of the fully automatic detection device can automatically drive the six-degree-of-freedom robotic arm, thereby automatically adjusting the position of the probe, so that the fully automatic detection device can automatically examine the patient. However, in actual application, due to the different fatness and thinness of the patient, when the position of the probe is automatically controlled by the control unit to examine the patient, there is sometimes a problem that the doctor cannot accurately obtain the detection image he wants. At this time, the doctor may need to perform a secondary test on the patient using a handheld probe to obtain the detection image the doctor wants.
[0004] Accordingly, the art needs a new technical solution to solve the above problems. Summary of the invention
[0005] The utility model aims to solve the above technical problem, that is, to solve the problem that the existing fully automatic medical detection equipment cannot adaptively obtain the detection image desired by the doctor according to the fatness or thinness of the patient.
[0006] The utility model provides a medical power-assisting device, comprising:
[0007] Device body;
[0008] A mechanical arm, a first end of which is rotatably connected to the device body, a second end of which is provided with a mounting position, a hand-held portion is provided on the mechanical arm, and a first mechanical sensor is further provided on the hand-held portion, wherein the first mechanical sensor is used to detect the holding pressure exerted on the hand-held portion;
[0009] A medical probe, which is installed at the installation position;
[0010] A control component is respectively connected to the device body and the robotic arm, and is configured to drive the robotic arm according to the holding pressure to adjust the contact pressure between the medical probe and the patient's body surface. It is also configured to drive the robotic arm when the holding pressure is less than or equal to a preset pressure threshold, so that the output force of the second end of the robotic arm is equal to the gravity of the medical probe and the direction of the output force is vertically upward.
[0011] In the preferred technical solution of the above-mentioned medical power-assisting device, the medical power-assisting device also includes a force button, which is arranged on the mechanical arm, and the force button includes multiple gears, and the multiple gears respectively correspond to different ratios K of contact pressure to holding pressure.
[0012] In the preferred technical solution of the above-mentioned medical power-assisting device, the multiple gears include a gentle gear, a standard gear and a strong gear, and the ratio of the contact pressure to the gripping pressure corresponding to the gentle gear is K 轻 The ratio of the contact pressure to the grip pressure corresponding to the standard gear position is K 标 The ratio of the contact pressure to the grip pressure corresponding to the strong gear is K 强 , where K 轻 Less than the K 标 Less than the K 强 .
[0013] In the preferred technical solution of the above-mentioned medical power-assisting device, the medical power-assisting device also includes a reset button, which is arranged on the robotic arm, and the reset button is connected to the control component so that the control component can drive the robotic arm to move to an initial position through the reset button.
[0014] In the preferred technical solution of the above-mentioned medical power-assisting device, the robotic arm is a six-degree-of-freedom robotic arm.
[0015] In the preferred technical solution of the above-mentioned medical assisting device, the medical assisting device also includes a second mechanical sensor, which is arranged on the six-degree-of-freedom robotic arm and is used to detect the translational force and torsional force applied to the six-degree-of-freedom robotic arm, so that the control component can drive the second end of the six-degree-of-freedom robotic arm to translate and rotate according to the translational force and the torsional force.
[0016] In the preferred technical solution of the above-mentioned medical power-assisting device, the second mechanical sensor includes a six-axis force sensor.
[0017] In the preferred technical solution of the above-mentioned medical power-assisting device, the mounting position is a mounting hole.
[0018] In the preferred technical solution of the above-mentioned medical assistive device, the first mechanical sensor is a pressure sensor.
[0019] In the case of adopting the above technical solution, the medical assisting device of the utility model can detect the holding pressure of the hand-held part of the mechanical arm. When the holding pressure is less than or equal to the preset pressure threshold, the control component can drive the mechanical arm so that the output force of the second end of the mechanical arm is equal to the gravity of the medical probe and the direction is vertically upward, so that the output force of the second end of the mechanical arm can offset the gravity of the medical probe itself, so that the doctor does not need to bear the gravity of the medical probe when holding the mechanical arm, thereby achieving the technical effect of labor saving. In addition, when the doctor needs to press down the probe to examine the patient, the hand-held part can be held tightly, so that the control component drives the mechanical arm according to the holding pressure detected by the first mechanical sensor to adjust the contact pressure between the medical probe and the patient's body surface, so that the doctor can complete the examination of the patient without applying downward pressure to the mechanical arm, thereby further saving the doctor's physical strength. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:
[0021] Figure 1 It is a structural schematic diagram of the medical power-assisting device of the utility model.
[0022] Figure 2 It is a linear relationship diagram between contact pressure and holding pressure in the medical power-assisting device of the utility model.
[0023] List of reference numerals:
[0024] 100. Medical assistive device; 1. Device body; 2. Robotic arm; 21. Reset button; 22. Force button; 23. Hand-held part; 24. First mechanical sensor; 25. Mounting position; 3. Medical probe. DETAILED DESCRIPTION
[0025] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.
[0026] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0027] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0028] like Figure 1 and Figure 2 As shown, in order to solve the problem that the existing fully automatic medical detection equipment cannot adaptively obtain the detection image that the doctor wants according to the patient's fat or thin condition. The utility model provides a medical assisting device 100, which includes a device body 1, a mechanical arm 2, a medical probe 3 and a control component (not shown). The device body 1 is placed on the ground and can be fixed relative to the ground to provide a stable inspection environment for the doctor. The first end of the mechanical arm 2 is rotatably connected to the device body 1. The second end of the mechanical arm 2 is provided with a mounting position 25. The mechanical arm 2 is provided with a hand-held part 23, and the hand-held part 23 is also provided with a first mechanical sensor 24, and the first mechanical sensor 24 is used to detect the holding pressure of the hand-held part 23. The medical probe 3 is installed at the mounting position 25, specifically, the end of the medical probe 3 close to the mechanical arm 2 is installed at the mounting position 25, and the end of the medical probe 3 away from the mechanical arm 2 is provided with a sensor so that the patient can be examined. The control component is connected to the device body 1, the mechanical arm 2 and the first mechanical sensor 24 respectively, and is configured to drive the mechanical arm 2 when the holding pressure is less than or equal to the preset pressure threshold, so that the magnitude of the output force of the second end of the mechanical arm 2 is equal to the gravity of the medical probe 3 and the direction of the output force is vertically upward, so that the control component can control the mechanical arm 2 to offset the gravity of the medical probe 3, so that the combined force of the output force of the mechanical arm 2 and the gravity of the medical probe 3 is zero, so that the gravity of the medical probe 3 felt by the doctor at this time is zero, so that when the doctor needs to translate the medical probe 3, he only needs to apply a small translation force to move the medical probe 3, saving the doctor's physical strength, thereby achieving a labor-saving technical effect. The control component is also configured to drive the mechanical arm 2 according to the holding pressure when the holding pressure is greater than the preset pressure threshold, so as to adjust the contact pressure between the medical probe 3 and the patient's body surface, so that the doctor does not need to apply downward pressure to the mechanical arm 2, but can increase the pressure of the medical probe 3 on the patient's body surface by increasing the gripping force of the hand, thereby completing the detection of the patient, which can further improve the labor-saving technical effect.
[0029] It should be noted that although the device body 1 described above is fixed on the ground, this is not restrictive. In other embodiments of the utility model, the device body 1 can also be fixed to the bottom of the car, and the above-mentioned fixing on the ground can be fixed to the ground by fasteners, or rollers can be arranged under the device body 1, and the rollers have a released state and a locked state. When the rollers are in the released state, the device body 1 can slide on the ground through the rollers, and when the rollers are in the locked state, the device body 1 can be fixed relative to the ground through the rollers.
[0030] In addition, the preset pressure threshold can be determined by the designer based on experience, experiments, calculations, etc. For example, the preset pressure threshold can be set to 3N. In this way, if the pressure of the doctor holding the handheld part 23 is greater than 3N, it means that the doctor wants to drive the robotic arm 2 through the control component to increase the contact pressure between the probe and the patient's body surface.
[0031] As a possible implementation manner, in order to make the doctor's operation of the probe more precise, during the specific implementation of the utility model, the first mechanical sensor 24 can be set at the position of the hand-holding part 23 corresponding to the doctor's middle finger. In this way, when the doctor needs to adjust the contact pressure between the probe and the patient's body surface, he only needs to adjust the pressure of the middle finger on the first mechanical sensor 24. This can eliminate the influence of the doctor's entire palm on the pressure of the hand-holding part 23 to a certain extent, thereby further improving the doctor's control accuracy of the probe and improving the user's satisfaction.
[0032] Preferably, the first mechanical sensor 24 may be a first pressure sensor.
[0033] As a possible implementation, Figure 1 As shown, the medical assist device 100 also includes a force button 22, which is arranged on the mechanical arm 2. The force button 22 includes a plurality of gears, and the plurality of gears correspond to different ratios K of contact pressure to holding pressure, respectively. By such a setting, the doctor can select different K values according to the different gears of the force button 22 to take into account the strength used by different doctors. Moreover, by such a setting, the same doctor can also select different gears when facing different patients. For example, when the patient is relatively thin, the probe needs to be pressed against the patient's body surface with a smaller pressure. At this time, the doctor can select the gear corresponding to the smaller K value. When the patient is relatively obese, the probe needs to be pressed against the patient's body surface with a larger pressure. At this time, the doctor can select the gear corresponding to the larger K value. In this way, when the doctor examines the patient, he can adaptively select a more labor-saving method to save the doctor's physical strength.
[0034] Furthermore, when the present invention is implemented, Figure 2As shown, the multiple gears may include a gentle gear, a standard gear and a strong gear. Specifically, the ratio of the contact pressure to the gripping pressure corresponding to the gentle gear is K 轻 The ratio of contact pressure to grip pressure corresponding to the standard gear position is K 标 The ratio of contact pressure to grip pressure corresponding to the strong gear is K 强 , where K 轻 ﹤K 标 ﹤K 强 Through this setting method, the strength selection button has three strength levels to choose from to meet the doctor's needs for different usage strengths.
[0035] It should be noted that, in the specific implementation of the present invention, the force button 22 is configured so that it can only work when the pressure on the gripping part is less than or equal to a preset pressure threshold. Otherwise, the gear position cannot be adjusted by the force button 22. This setting is intended to prevent the situation in which the contact pressure of the probe on the patient's body surface suddenly changes due to the change of the gear position during operation, thereby causing harm to the patient.
[0036] As a possible implementation, Figure 1 As shown, the medical assistive device 100 further includes a reset button 21 , which is disposed on the robotic arm 2 and connected to the control component so that the control component can drive the robotic arm 2 to move to an initial position through the reset button 21 .
[0037] As a possible implementation, the robot arm 2 may be a six-degree-of-freedom robot arm.
[0038] It should be noted that the six-degree-of-freedom robotic arm is mainly used to carry and position the medical probe 3, and enables the probe to contact the human body surface at different angles to meet the doctor's examination needs for the patient.
[0039] As a possible implementation, the medical assist device 100 further includes a second mechanical sensor (not shown), which is disposed on the six-degree-of-freedom mechanical arm and is used to detect the translational force and torsional force exerted on the six-degree-of-freedom mechanical arm, so that the control component can drive the translation and rotation of the second end of the six-degree-of-freedom mechanical arm according to the detected translational force and torsional force. Specifically, the second mechanical sensor includes a six-axis force sensor, which can simultaneously measure the forces and torques in three directions within the inertial coordinate system, and realize the collection of force signals at various angles exerted on the mechanical arm 2, so that the control component can control the translation and rotation of the mechanical arm 2 according to the force signals at various angles detected by the second mechanical sensor. In this way, when the doctor needs to move the medical probe 3, the doctor only needs to apply a small translational force to the hand-held part 23 through his hand, and the control component can drive the mechanical arm 2 to move in the target direction by detecting the translational force exerted by the doctor. Similarly, when the doctor needs to rotate the medical probe 3, the doctor only needs to apply a small rotational force to the hand-held part 23 through his hand, and the control component can drive the mechanical arm 2 to rotate to the target angle by detecting the rotational force applied by the doctor.
[0040] As a possible implementation, Figure 1 As shown, the mounting position 25 is a mounting hole provided at the second end of the robotic arm 2 so that the medical probe 3 can be installed in the mounting hole.
[0041] It should be noted that although the above combination Figure 1 The described mounting position 25 is a mounting hole set at the second end of the robotic arm 2, but this is not restrictive. In the implementation of the present utility model, the mounting position 25 may also be a clamp set at the second end of the robotic arm 2, but this is not restrictive. Obviously, the mounting position 25 may also be a slot or buckle set at the second end of the robotic arm 2, as long as the medical probe 3 can be installed on the mounting position 25.
[0042] As a possible implementation trial, when the utility model is implemented, a second pressure sensor (not shown) can also be arranged on the mounting position 25, wherein the position of the second pressure sensor is configured so that when the medical probe 3 is installed on the mounting position 25, the second pressure sensor can detect the pressure between the medical probe 3 and the patient's body surface. Through this setting, the second pressure sensor can monitor the pressure between the medical probe 3 and the patient's body surface in real time. In this way, when the pressure between the medical probe 3 and the patient is greater than the safety threshold, the control component can be used to drive the robotic arm 2 to move the medical probe 3 away from the patient's body surface, thereby ensuring the safety of the patient.
[0043] In summary, the working principle of the present invention is as follows: when the doctor needs to examine the patient through the medical probe 3, first click or toggle the strength button 22 to select the gear, then the doctor applies a translational force to the robotic arm 2 so that the medical probe 3 can be moved to the target position required by the doctor. Preferably, when the doctor moves the robotic arm 2, the doctor holds the hand on the hand-holding part 23 so that the control component drives the robotic arm 2 to move according to the translational force applied by the doctor, and when the medical probe 3 contacts the patient's body surface, the holding pressure of the hand is increased and the holding pressure exceeds the preset pressure threshold, so that the control component drives the robotic arm 2 according to the holding pressure to adjust the pressure between the medical probe 3 and the patient's body surface, thereby achieving the technical effect of assisting the doctor through the medical assisting device. Moreover, during the examination, if the holding pressure is less than or equal to the preset pressure threshold, the control component drives the mechanical arm 2 so that the magnitude of the output force of the second end of the mechanical arm 2 is equal to the gravity of the doctor's probe and the direction is vertically upward, so that the combined force of the output force of the mechanical arm 2 and the gravity of the medical probe 3 is zero, so that the gravity of the medical probe 3 felt by the doctor at this time is zero, so that when the doctor needs to translate the medical probe 3, he only needs to apply a small translation force to move the medical probe 3, saving the doctor's physical strength. In addition, through the above-mentioned setting method, when the examination is completed, when the doctor's hand gradually releases the holding part 23, the control component can drive the mechanical arm 2 according to the decrease in the holding pressure detected by the first mechanical sensor 24 so that the contact pressure between the doctor's probe and the patient's body surface is gradually reduced to zero, so that the pressure between the medical probe 3 and the patient's body surface disappears. Finally, the doctor clicks the reset button 21, so that the control component drives the mechanical arm 2 to move to the initial position.
[0044] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.
Claims
1. A medical power-assisting device, characterized in that: The medical assisting device comprises: Device body; A mechanical arm, a first end of which is rotatably connected to the device body, a second end of which is provided with a mounting position, a hand-held portion is provided on the mechanical arm, and a first mechanical sensor is further provided on the hand-held portion, wherein the first mechanical sensor is used to detect the holding pressure exerted on the hand-held portion; A medical probe, which is installed at the installation position; A control component is respectively connected to the device body, the mechanical arm and the first mechanical sensor, and is configured to drive the mechanical arm when the holding pressure is less than or equal to a preset pressure threshold, so that the output force of the second end of the mechanical arm is equal to the gravity of the medical probe and the direction of the output force is vertically upward. It is also configured to drive the mechanical arm according to the holding pressure when the holding pressure is greater than the preset pressure threshold, so as to adjust the contact pressure between the medical probe and the patient's body surface.
2. The medical assisting device according to claim 1, characterized in that: The medical power-assisting device further includes a force button, which is disposed on the mechanical arm. The force button includes a plurality of gears, and the plurality of gears respectively correspond to different ratios K of contact pressure to gripping pressure.
3. The medical assisting device according to claim 2, characterized in that: The multiple gears include a gentle gear, a standard gear and a strong gear, and the ratio of the contact pressure to the gripping pressure corresponding to the gentle gear is K 轻 The ratio of the contact pressure to the grip pressure corresponding to the standard gear position is K 标 The ratio of the contact pressure to the grip pressure corresponding to the strong gear is K 强 , where K 轻 Less than the K 标 Less than the K 强 .
4. The medical assisting device according to claim 1, characterized in that: The medical power-assisting device further comprises a reset button, which is arranged on the mechanical arm. The reset button is connected to the control component so that the control component can drive the mechanical arm to move to an initial position through the reset button.
5. The medical assisting device according to claim 1, characterized in that: The robotic arm is a six-degree-of-freedom robotic arm.
6. The medical assisting device according to claim 5, characterized in that: The medical assist device also includes a second mechanical sensor, which is arranged on the six-degree-of-freedom robotic arm and is used to detect the translational force and torsional force applied to the six-degree-of-freedom robotic arm, so that the control component can drive the second end of the six-degree-of-freedom robotic arm to translate and rotate according to the translational force and the torsional force.
7. The medical assisting device according to claim 6, characterized in that: The second mechanical sensor includes a six-axis force sensor.
8. The medical assisting device according to any one of claims 1 to 7, characterized in that: The installation position is a installation hole.
9. The medical assisting device according to any one of claims 1 to 7, characterized in that: The first mechanical sensor is a pressure sensor.